The Player Project

Hi,

I use Playernav quite often. It is just a GUI, the "real" navigation =20
is computed by the planner driver.
But it works well for me. I use the Erratic platform (http://=20
 http://www.videredesign.com/) which natively runs Player.
Each robot runs the amcl, vfh and wavefront drivers.
With playernav, I set both the current location and the desired goal, =20=

and they run quite smoothly.

If only, there is a delay between the update of the particles (which =20
correspond well to the location of the real robot) and the robot =20
icons (which usually lag behind). Don't know if due to computation or =20=

communication overload.

Which type of problems do you get?

Enric

El 01/02/2008, a las 2:22, TheChosenOne escribi=F3:

>
> Hi,
>
> has someone experience with player and playernav on real robots. =20
> How solid
> is the navigation software playernav?
> I got a lot of problems with playernav.
> I hope someone can report about the experience with playernav.
>
> Regards.
>
> -TM-
> --=20
> View this message in context: http://www.nabble.com/navigation-with-=20=

> playernav-tp15218801p15218801.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
> ----------------------------------------------------------------------=20=

> ---
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
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> _______________________________________________
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> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users

Hi TM,

playernav is not a navigation software. It is just the front-end. But, you
can use playernav in connection with a global planner (=wavefront) and a
local navigator (such as nd or vfh) for navigation. I would take nd,
especially if your robot is not perfectly round. 
And, I would first try the navigation in a simulation environment (i.e. with
stage) using a map of your real environment.
The only problem I had with wavefront: Wavefront refuses to plan
trajectories through narrow paths. On the other hand if wavefront plans a
trajectory, it is very likely that the real robot can actually follow it
(using the local navigator).

Hauke


wavefront:
http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__wavefront.html
nd:
http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html

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Hi,

I'm using wavefont, vfh an amcl. In the sumulation (stage with the map of
the  eal environment) it's fine, but whwn I start it on my real Robot: the
loclaize works, the path is planned, but then he just turn around himself.
I also to changed the configuration options of wavefront, vfh and amcl but
it doesn't help.
Any ideas?

@Joseph Baxter, hauke
Where I can find the nd drive and how can I use it in my cfg file. Like vfh=
?
Or are there options I have to mention.

Regards.

-TM-

Enric Cervera-2 wrote:
>=20
> Hi,
>=20
> I use Playernav quite often. It is just a GUI, the "real" navigation =20
> is computed by the planner driver.
> But it works well for me. I use the Erratic platform (http://=20
> http://www.videredesign.com/) which natively runs Player.
> Each robot runs the amcl, vfh and wavefront drivers.
> With playernav, I set both the current location and the desired goal, =20
> and they run quite smoothly.
>=20
> If only, there is a delay between the update of the particles (which =20
> correspond well to the location of the real robot) and the robot =20
> icons (which usually lag behind). Don't know if due to computation or =20
> communication overload.
>=20
> Which type of problems do you get?
>=20
> Enric
>=20
> El 01/02/2008, a las 2:22, TheChosenOne escribi=C3=B3:
>=20
>>
>> Hi,
>>
>> has someone experience with player and playernav on real robots. =20
>> How solid
>> is the navigation software playernav?
>> I got a lot of problems with playernav.
>> I hope someone can report about the experience with playernav.
>>
>> Regards.
>>
>> -TM-
>> --=20
>> View this message in context: http://www.nabble.com/navigation-with-=20
>> playernav-tp15218801p15218801.html
>> Sent from the playerstage-users mailing list archive at Nabble.com.
>>
>>
>> ----------------------------------------------------------------------=
=20
>> ---
>> This SF.net email is sponsored by: Microsoft
>> Defy all challenges. Microsoft(R) Visual Studio 2008.
>> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
>> _______________________________________________
>> Playerstage-users mailing list
>> Playerstage-users@...
>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>=20
>=20
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>=20
>=20

--=20
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av-tp15218801p15225944.html
Sent from the playerstage-users mailing list archive at Nabble.com.

Yes you basically replace the vfh with nd, see:

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html

for details on the config.

Also reading the papers that are linked on the driver page, helps with 
the understanding of how it works :)

What type of robot are you using? What sensors? What does your .cfg look 
like?

> From: TheChosenOne <thula@......> - 2008-02-01 12:44
> Hi,
> 
> I'm using wavefont, vfh an amcl. In the sumulation (stage with the map of
> the eal environment) it's fine, but whwn I start it on my real Robot: the
> loclaize works, the path is planned, but then he just turn around himself.
> I also to changed the configuration options of wavefront, vfh and amcl but
> it doesn't help.
> Any ideas?
> 
> @Joseph Baxter, hauke
> Where I can find the nd drive and how can I use it in my cfg file. Like vfh=
> ?
> Or are there options I have to mention.
> 
> Regards.
> 
> -TM-


-- 
Joseph Baxter
Automated Scheduling, Optimisation and Planning Group
School of Computer Science and Information Technology
University of Nottingham
Jubilee Campus
Wollaton Road
Nottingham
NG8 1BB

Room: B74
Tel: (0115) 84 66569

http://www.cs.nott.ac.uk/~jlb
http://www.asap.cs.nott.ac.uk/projects/cdmue/
http://www.asap.cs.nott.ac.uk/~robots/

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Hi,

i am using a SCITOS G from MetraLabs. I only use the laser a sicks300.
My .cfg file look like this:

driver
(
  name "scitos"
  config
"/opt/MetraLabs/MLRobotic/etc/config/SCITOS-G5b_without_Head_config.xml"
  debuglevel 3
  provides ["odometry:::position2d:0" ":sonar:0"]
)

driver
(
  name "sicks300"
  plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
  provides ["laser:0"]
  port "/dev/ttyUSB0"
#  rate 230400
  rate 500000
  read_mode "continuous"
#  read_mode "request"
)

driver
(
  name "mapfile"
  provides ["map:0"]
  filename "/localhome/demo/testprogramme/FincaNeu.png"
  resolution 0.01
)

driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  distance_epsilon 1
  angle_epsilon 5
#####################################
#  min_turnrate 5
#  free_space_cutoff_0ms 2000000.0
#  free_space_cutoff_1ms 2000000.0
######################################
)

driver
(
  name "amcl"
  provides ["localize:0" "position2d:2"]
  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
)


driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output::6665:position2d:1" "input::6665:position2d:2" "map:0"]
  safety_dist 0
  distance_epsilon 1
  angle_epsilon 5
  alwayson 1
###########################
# max_radius 1.0
  
)

Do you see a fault in the config file or things I should try?

Regards.

-TM-


Joseph Baxter wrote:
> 
> Yes you basically replace the vfh with nd, see:
> 
> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
> 
> for details on the config.
> 
> Also reading the papers that are linked on the driver page, helps with 
> the understanding of how it works :)
> 
> What type of robot are you using? What sensors? What does your .cfg look 
> like?
> 
>> From: TheChosenOne <thula@......> - 2008-02-01 12:44
>> Hi,
>> 
>> I'm using wavefont, vfh an amcl. In the sumulation (stage with the map of
>> the eal environment) it's fine, but whwn I start it on my real Robot: the
>> loclaize works, the path is planned, but then he just turn around
>> himself.
>> I also to changed the configuration options of wavefront, vfh and amcl
>> but
>> it doesn't help.
>> Any ideas?
>> 
>> @Joseph Baxter, hauke
>> Where I can find the nd drive and how can I use it in my cfg file. Like
>> vfh=
>> ?
>> Or are there options I have to mention.
>> 
>> Regards.
>> 
>> -TM-
> 
> 
> -- 
> Joseph Baxter
> Automated Scheduling, Optimisation and Planning Group
> School of Computer Science and Information Technology
> University of Nottingham
> Jubilee Campus
> Wollaton Road
> Nottingham
> NG8 1BB
> 
> Room: B74
> Tel: (0115) 84 66569
> 
> http://www.cs.nott.ac.uk/~jlb
> http://www.asap.cs.nott.ac.uk/projects/cdmue/
> http://www.asap.cs.nott.ac.uk/~robots/
> 
> This message has been checked for viruses but the contents of an
> attachment
> may still contain software viruses, which could damage your computer
> system:
> you are advised to perform your own checks. Email communications with the
> University of Nottingham may be monitored as permitted by UK legislation.
> 
> 
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
> 
> 

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VFH is designed to work with 180-degree laser scans, at 0.5-degree 
angular resolution.  I don't know what the SICK S300 outputs, but it 
might be worth using the laserrescan driver to massage the laser data 
into the form expected by vfh.  E.g.:

driver
(
   name "laserrescan"
   requires ["laser:0"]
   provides ["laser:1"]
   scan_count 361
   min_angle -90
   max_angle 90
)

Then change vfh to require "laser:1" instead of "laser:0".

	brian.

TheChosenOne wrote:
> Hi,
> 
> i am using a SCITOS G from MetraLabs. I only use the laser a sicks300.
> My .cfg file look like this:
> 
> driver
> (
>   name "scitos"
>   config
> "/opt/MetraLabs/MLRobotic/etc/config/SCITOS-G5b_without_Head_config.xml"
>   debuglevel 3
>   provides ["odometry:::position2d:0" ":sonar:0"]
> )
> 
> driver
> (
>   name "sicks300"
>   plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
>   provides ["laser:0"]
>   port "/dev/ttyUSB0"
> #  rate 230400
>   rate 500000
>   read_mode "continuous"
> #  read_mode "request"
> )
> 
> driver
> (
>   name "mapfile"
>   provides ["map:0"]
>   filename "/localhome/demo/testprogramme/FincaNeu.png"
>   resolution 0.01
> )
> 
> driver
> (
>   name "vfh"
>   provides ["position2d:1"]
>   requires ["position2d:0" "laser:0"]
>   distance_epsilon 1
>   angle_epsilon 5
> #####################################
> #  min_turnrate 5
> #  free_space_cutoff_0ms 2000000.0
> #  free_space_cutoff_1ms 2000000.0
> ######################################
> )
> 
> driver
> (
>   name "amcl"
>   provides ["localize:0" "position2d:2"]
>   requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
> )
> 
> 
> driver
> (
>   name "wavefront"
>   provides ["planner:0"]
>   requires ["output::6665:position2d:1" "input::6665:position2d:2" "map:0"]
>   safety_dist 0
>   distance_epsilon 1
>   angle_epsilon 5
>   alwayson 1
> ###########################
> # max_radius 1.0
>   
> )
> 
> Do you see a fault in the config file or things I should try?
> 
> Regards.
> 
> -TM-
> 
> 
> Joseph Baxter wrote:
>> Yes you basically replace the vfh with nd, see:
>>
>> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
>>
>> for details on the config.
>>
>> Also reading the papers that are linked on the driver page, helps with 
>> the understanding of how it works :)
>>
>> What type of robot are you using? What sensors? What does your .cfg look 
>> like?
>>
>>> From: TheChosenOne <thula@......> - 2008-02-01 12:44
>>> Hi,
>>>
>>> I'm using wavefont, vfh an amcl. In the sumulation (stage with the map of
>>> the eal environment) it's fine, but whwn I start it on my real Robot: the
>>> loclaize works, the path is planned, but then he just turn around
>>> himself.
>>> I also to changed the configuration options of wavefront, vfh and amcl
>>> but
>>> it doesn't help.
>>> Any ideas?
>>>
>>> @Joseph Baxter, hauke
>>> Where I can find the nd drive and how can I use it in my cfg file. Like
>>> vfh=
>>> ?
>>> Or are there options I have to mention.
>>>
>>> Regards.
>>>
>>> -TM-
>>
>> -- 
>> Joseph Baxter
>> Automated Scheduling, Optimisation and Planning Group
>> School of Computer Science and Information Technology
>> University of Nottingham
>> Jubilee Campus
>> Wollaton Road
>> Nottingham
>> NG8 1BB
>>
>> Room: B74
>> Tel: (0115) 84 66569
>>
>> http://www.cs.nott.ac.uk/~jlb
>> http://www.asap.cs.nott.ac.uk/projects/cdmue/
>> http://www.asap.cs.nott.ac.uk/~robots/
>>
>> This message has been checked for viruses but the contents of an
>> attachment
>> may still contain software viruses, which could damage your computer
>> system:
>> you are advised to perform your own checks. Email communications with the
>> University of Nottingham may be monitored as permitted by UK legislation.
>>
>>
>> -------------------------------------------------------------------------
>> This SF.net email is sponsored by: Microsoft
>> Defy all challenges. Microsoft(R) Visual Studio 2008.
>> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
>> _______________________________________________
>> Playerstage-users mailing list
>> Playerstage-users@...
>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>>
>>
>

Hi,
thanks for your idea.
I set my sick driver from 270 laser scans to 180, but I don't change it in
vfh. I will try it (next week, because of exams) and let you know.
For what is the change: require "laser:1" instead of "laser:0" good for?

Regards.

-TM-


VFH is designed to work with 180-degree laser scans, at 0.5-degree 
angular resolution.  I don't know what the SICK S300 outputs, but it 
might be worth using the laserrescan driver to massage the laser data 
into the form expected by vfh.  E.g.:

driver
(
   name "laserrescan"
   requires ["laser:0"]
   provides ["laser:1"]
   scan_count 361
   min_angle -90
   max_angle 90
)

Then change vfh to require "laser:1" instead of "laser:0".

	brian.

TheChosenOne wrote:
> Hi,
> 
> i am using a SCITOS G from MetraLabs. I only use the laser a sicks300.
> My .cfg file look like this:
> 
> driver
> (
>   name "scitos"
>   config
> "/opt/MetraLabs/MLRobotic/etc/config/SCITOS-G5b_without_Head_config.xml"
>   debuglevel 3
>   provides ["odometry:::position2d:0" ":sonar:0"]
> )
> 
> driver
> (
>   name "sicks300"
>   plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
>   provides ["laser:0"]
>   port "/dev/ttyUSB0"
> #  rate 230400
>   rate 500000
>   read_mode "continuous"
> #  read_mode "request"
> )
> 
> driver
> (
>   name "mapfile"
>   provides ["map:0"]
>   filename "/localhome/demo/testprogramme/FincaNeu.png"
>   resolution 0.01
> )
> 
> driver
> (
>   name "vfh"
>   provides ["position2d:1"]
>   requires ["position2d:0" "laser:0"]
>   distance_epsilon 1
>   angle_epsilon 5
> #####################################
> #  min_turnrate 5
> #  free_space_cutoff_0ms 2000000.0
> #  free_space_cutoff_1ms 2000000.0
> ######################################
> )
> 
> driver
> (
>   name "amcl"
>   provides ["localize:0" "position2d:2"]
>   requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
> )
> 
> 
> driver
> (
>   name "wavefront"
>   provides ["planner:0"]
>   requires ["output::6665:position2d:1" "input::6665:position2d:2"
> "map:0"]
>   safety_dist 0
>   distance_epsilon 1
>   angle_epsilon 5
>   alwayson 1
> ###########################
> # max_radius 1.0
>   
> )
> 
> Do you see a fault in the config file or things I should try?
> 
> Regards.
> 
> -TM-
> 
> 
> Joseph Baxter wrote:
>> Yes you basically replace the vfh with nd, see:
>>
>> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
>>
>> for details on the config.
>>
>> Also reading the papers that are linked on the driver page, helps with 
>> the understanding of how it works :)
>>
>> What type of robot are you using? What sensors? What does your .cfg look 
>> like?
>>
>>> From: TheChosenOne <thula@......> - 2008-02-01 12:44
>>> Hi,
>>>
>>> I'm using wavefont, vfh an amcl. In the sumulation (stage with the map
>>> of
>>> the eal environment) it's fine, but whwn I start it on my real Robot:
>>> the
>>> loclaize works, the path is planned, but then he just turn around
>>> himself.
>>> I also to changed the configuration options of wavefront, vfh and amcl
>>> but
>>> it doesn't help.
>>> Any ideas?
>>>
>>> @Joseph Baxter, hauke
>>> Where I can find the nd drive and how can I use it in my cfg file. Like
>>> vfh=
>>> ?
>>> Or are there options I have to mention.
>>>
>>> Regards.
>>>
>>> -TM-
>>
>> -- 
>> Joseph Baxter
>> Automated Scheduling, Optimisation and Planning Group
>> School of Computer Science and Information Technology
>> University of Nottingham
>> Jubilee Campus
>> Wollaton Road
>> Nottingham
>> NG8 1BB
>>
>> Room: B74
>> Tel: (0115) 84 66569
>>
>> http://www.cs.nott.ac.uk/~jlb
>> http://www.asap.cs.nott.ac.uk/projects/cdmue/
>> http://www.asap.cs.nott.ac.uk/~robots/
>>
>> This message has been checked for viruses but the contents of an
>> attachment
>> may still contain software viruses, which could damage your computer
>> system:
>> you are advised to perform your own checks. Email communications with the
>> University of Nottingham may be monitored as permitted by UK legislation.
>>
>>
>> -------------------------------------------------------------------------
>> This SF.net email is sponsored by: Microsoft
>> Defy all challenges. Microsoft(R) Visual Studio 2008.
>> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
>> _______________________________________________
>> Playerstage-users mailing list
>> Playerstage-users@...
>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>>
>>
> 


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On 6-Feb-08, at 3:40 PM, TheChosenOne wrote:

>
> Hi,
> thanks for your idea.
> I set my sick driver from 270 laser scans to 180, but I don't change  
> it in
> vfh. I will try it (next week, because of exams) and let you know.
> For what is the change: require "laser:1" instead of "laser:0" good  
> for?
>

It connects VFH to the output of the laserrescan driver (laser:1)  
instead of the unprocessed SICK laser data (laser:0).

R/

> Regards.
>
> -TM-
>
>
> VFH is designed to work with 180-degree laser scans, at 0.5-degree
> angular resolution.  I don't know what the SICK S300 outputs, but it
> might be worth using the laserrescan driver to massage the laser data
> into the form expected by vfh.  E.g.:
>
> driver
> (
>   name "laserrescan"
>   requires ["laser:0"]
>   provides ["laser:1"]
>   scan_count 361
>   min_angle -90
>   max_angle 90
> )
>
> Then change vfh to require "laser:1" instead of "laser:0".
>
> 	brian.
>
> TheChosenOne wrote:
>> Hi,
>>
>> i am using a SCITOS G from MetraLabs. I only use the laser a  
>> sicks300.
>> My .cfg file look like this:
>>
>> driver
>> (
>>  name "scitos"
>>  config
>> "/opt/MetraLabs/MLRobotic/etc/config/SCITOS- 
>> G5b_without_Head_config.xml"
>>  debuglevel 3
>>  provides ["odometry:::position2d:0" ":sonar:0"]
>> )
>>
>> driver
>> (
>>  name "sicks300"
>>  plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
>>  provides ["laser:0"]
>>  port "/dev/ttyUSB0"
>> #  rate 230400
>>  rate 500000
>>  read_mode "continuous"
>> #  read_mode "request"
>> )
>>
>> driver
>> (
>>  name "mapfile"
>>  provides ["map:0"]
>>  filename "/localhome/demo/testprogramme/FincaNeu.png"
>>  resolution 0.01
>> )
>>
>> driver
>> (
>>  name "vfh"
>>  provides ["position2d:1"]
>>  requires ["position2d:0" "laser:0"]
>>  distance_epsilon 1
>>  angle_epsilon 5
>> #####################################
>> #  min_turnrate 5
>> #  free_space_cutoff_0ms 2000000.0
>> #  free_space_cutoff_1ms 2000000.0
>> ######################################
>> )
>>
>> driver
>> (
>>  name "amcl"
>>  provides ["localize:0" "position2d:2"]
>>  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
>> )
>>
>>
>> driver
>> (
>>  name "wavefront"
>>  provides ["planner:0"]
>>  requires ["output::6665:position2d:1" "input::6665:position2d:2"
>> "map:0"]
>>  safety_dist 0
>>  distance_epsilon 1
>>  angle_epsilon 5
>>  alwayson 1
>> ###########################
>> # max_radius 1.0
>>
>> )
>>
>> Do you see a fault in the config file or things I should try?
>>
>> Regards.
>>
>> -TM-
>>
>>
>> Joseph Baxter wrote:
>>> Yes you basically replace the vfh with nd, see:
>>>
>>> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
>>>
>>> for details on the config.
>>>
>>> Also reading the papers that are linked on the driver page, helps  
>>> with
>>> the understanding of how it works :)
>>>
>>> What type of robot are you using? What sensors? What does  
>>> your .cfg look
>>> like?
>>>
>>>> From: TheChosenOne <thula@......> - 2008-02-01 12:44
>>>> Hi,
>>>>
>>>> I'm using wavefont, vfh an amcl. In the sumulation (stage with  
>>>> the map
>>>> of
>>>> the eal environment) it's fine, but whwn I start it on my real  
>>>> Robot:
>>>> the
>>>> loclaize works, the path is planned, but then he just turn around
>>>> himself.
>>>> I also to changed the configuration options of wavefront, vfh and  
>>>> amcl
>>>> but
>>>> it doesn't help.
>>>> Any ideas?
>>>>
>>>> @Joseph Baxter, hauke
>>>> Where I can find the nd drive and how can I use it in my cfg  
>>>> file. Like
>>>> vfh=
>>>> ?
>>>> Or are there options I have to mention.
>>>>
>>>> Regards.
>>>>
>>>> -TM-
>>>
>>> -- 
>>> Joseph Baxter
>>> Automated Scheduling, Optimisation and Planning Group
>>> School of Computer Science and Information Technology
>>> University of Nottingham
>>> Jubilee Campus
>>> Wollaton Road
>>> Nottingham
>>> NG8 1BB
>>>
>>> Room: B74
>>> Tel: (0115) 84 66569
>>>
>>> http://www.cs.nott.ac.uk/~jlb
>>> http://www.asap.cs.nott.ac.uk/projects/cdmue/
>>> http://www.asap.cs.nott.ac.uk/~robots/
>>>
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>>
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Hi,

I solved my Problem. I set the laser range in my sick driver to 180 and
playernav works!!!

Thank you all for your advice.

Regards.

 -TM-

Richard vaughan wrote:
> 
> 
> 
> 
> On 6-Feb-08, at 3:40 PM, TheChosenOne wrote:
> 
>>
>> Hi,
>> thanks for your idea.
>> I set my sick driver from 270 laser scans to 180, but I don't change  
>> it in
>> vfh. I will try it (next week, because of exams) and let you know.
>> For what is the change: require "laser:1" instead of "laser:0" good  
>> for?
>>
> 
> It connects VFH to the output of the laserrescan driver (laser:1)  
> instead of the unprocessed SICK laser data (laser:0).
> 
> R/
> 
>> Regards.
>>
>> -TM-
>>
>>
>> VFH is designed to work with 180-degree laser scans, at 0.5-degree
>> angular resolution.  I don't know what the SICK S300 outputs, but it
>> might be worth using the laserrescan driver to massage the laser data
>> into the form expected by vfh.  E.g.:
>>
>> driver
>> (
>>   name "laserrescan"
>>   requires ["laser:0"]
>>   provides ["laser:1"]
>>   scan_count 361
>>   min_angle -90
>>   max_angle 90
>> )
>>
>> Then change vfh to require "laser:1" instead of "laser:0".
>>
>> 	brian.
>>
>> TheChosenOne wrote:
>>> Hi,
>>>
>>> i am using a SCITOS G from MetraLabs. I only use the laser a  
>>> sicks300.
>>> My .cfg file look like this:
>>>
>>> driver
>>> (
>>>  name "scitos"
>>>  config
>>> "/opt/MetraLabs/MLRobotic/etc/config/SCITOS- 
>>> G5b_without_Head_config.xml"
>>>  debuglevel 3
>>>  provides ["odometry:::position2d:0" ":sonar:0"]
>>> )
>>>
>>> driver
>>> (
>>>  name "sicks300"
>>>  plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
>>>  provides ["laser:0"]
>>>  port "/dev/ttyUSB0"
>>> #  rate 230400
>>>  rate 500000
>>>  read_mode "continuous"
>>> #  read_mode "request"
>>> )
>>>
>>> driver
>>> (
>>>  name "mapfile"
>>>  provides ["map:0"]
>>>  filename "/localhome/demo/testprogramme/FincaNeu.png"
>>>  resolution 0.01
>>> )
>>>
>>> driver
>>> (
>>>  name "vfh"
>>>  provides ["position2d:1"]
>>>  requires ["position2d:0" "laser:0"]
>>>  distance_epsilon 1
>>>  angle_epsilon 5
>>> #####################################
>>> #  min_turnrate 5
>>> #  free_space_cutoff_0ms 2000000.0
>>> #  free_space_cutoff_1ms 2000000.0
>>> ######################################
>>> )
>>>
>>> driver
>>> (
>>>  name "amcl"
>>>  provides ["localize:0" "position2d:2"]
>>>  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
>>> )
>>>
>>>
>>> driver
>>> (
>>>  name "wavefront"
>>>  provides ["planner:0"]
>>>  requires ["output::6665:position2d:1" "input::6665:position2d:2"
>>> "map:0"]
>>>  safety_dist 0
>>>  distance_epsilon 1
>>>  angle_epsilon 5
>>>  alwayson 1
>>> ###########################
>>> # max_radius 1.0
>>>
>>> )
>>>
>>> Do you see a fault in the config file or things I should try?
>>>
>>> Regards.
>>>
>>> -TM-
>>>
>>>
>>> Joseph Baxter wrote:
>>>> Yes you basically replace the vfh with nd, see:
>>>>
>>>> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
>>>>
>>>> for details on the config.
>>>>
>>>> Also reading the papers that are linked on the driver page, helps  
>>>> with
>>>> the understanding of how it works :)
>>>>
>>>> What type of robot are you using? What sensors? What does  
>>>> your .cfg look
>>>> like?
>>>>
>>>>> From: TheChosenOne <thula@......> - 2008-02-01 12:44
>>>>> Hi,
>>>>>
>>>>> I'm using wavefont, vfh an amcl. In the sumulation (stage with  
>>>>> the map
>>>>> of
>>>>> the eal environment) it's fine, but whwn I start it on my real  
>>>>> Robot:
>>>>> the
>>>>> loclaize works, the path is planned, but then he just turn around
>>>>> himself.
>>>>> I also to changed the configuration options of wavefront, vfh and  
>>>>> amcl
>>>>> but
>>>>> it doesn't help.
>>>>> Any ideas?
>>>>>
>>>>> @Joseph Baxter, hauke
>>>>> Where I can find the nd drive and how can I use it in my cfg  
>>>>> file. Like
>>>>> vfh=
>>>>> ?
>>>>> Or are there options I have to mention.
>>>>>
>>>>> Regards.
>>>>>
>>>>> -TM-
>>>>
>>>> -- 
>>>> Joseph Baxter
>>>> Automated Scheduling, Optimisation and Planning Group
>>>> School of Computer Science and Information Technology
>>>> University of Nottingham
>>>> Jubilee Campus
>>>> Wollaton Road
>>>> Nottingham
>>>> NG8 1BB
>>>>
>>>> Room: B74
>>>> Tel: (0115) 84 66569
>>>>
>>>> http://www.cs.nott.ac.uk/~jlb
>>>> http://www.asap.cs.nott.ac.uk/projects/cdmue/
>>>> http://www.asap.cs.nott.ac.uk/~robots/
>>>>
>>>> This message has been checked for viruses but the contents of an
>>>> attachment
>>>> may still contain software viruses, which could damage your computer
>>>> system:
>>>> you are advised to perform your own checks. Email communications  
>>>> with the
>>>> University of Nottingham may be monitored as permitted by UK  
>>>> legislation.
>>>>
>>>>
>>>> -------------------------------------------------------------------------
>>>> This SF.net email is sponsored by: Microsoft
>>>> Defy all challenges. Microsoft(R) Visual Studio 2008.
>>>> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
>>>> _______________________________________________
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>>>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>>>>
>>>>
>>>
>>
>>
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